An analysis method and medium for a multifunctional robot arm

By generating the workspace point cloud of the robotic arm using the DH parameter method and Monte Carlo method, and combining it with static model and finite element simulation analysis, the problems of limited working range and insufficient load-bearing capacity in the design of the rescue robot robotic arm were solved, and efficient and reliable rescue mission execution was achieved.

CN121245826BActive Publication Date: 2026-07-24CENT SOUTH UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
CENT SOUTH UNIV
Filing Date
2025-10-28
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

The lack of systematic kinematic and static analysis in the design phase of existing rescue robot arms results in limited working range, insufficient load-bearing capacity, and difficulty in guaranteeing structural reliability.

Method used

The kinematic model of the robotic arm is established using the DH parameter method, and the workspace point cloud is generated using the Monte Carlo method. Combined with static model and finite element simulation analysis, the motion performance and structural strength of the robotic arm are comprehensively evaluated.

Benefits of technology

It enables efficient and reliable assessment of the robotic arm's working capabilities, ensuring that it can cover a wide range of work areas and has sufficient load-bearing capacity and structural reliability in actual rescue missions.

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Abstract

The application relates to a multifunctional robot arm analysis method and medium, which comprises the following steps: establishing a D-H coordinate system of a robot arm and determining parameters, constructing a homogeneous transformation matrix of adjacent connecting rods, and solving a forward kinematics equation; a Monte Carlo method is used to generate a workspace point cloud, and a three-dimensional workspace range is determined. Secondly, a statics model under a load state is established, stress analysis is carried out through a separation method, and a balance equation is listed, and each hinged point counterforce and joint driving torque are solved; the obtained load is used as a boundary condition for finite element simulation, and stress, strain and displacement distribution of key parts are obtained. Finally, based on the workspace range and the simulation results of the structural performance, it is verified whether the robot arm can meet the requirements of large-scale operation and structural safety and reliability at the same time.
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Citation Information

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